Upward-moving and downward-sliding regulation and control method for fully-mechanized face scraper conveyor

Abstract

The invention discloses a method for regulating and controlling upward movement and downward movement of a scraper conveyor on a fully mechanized face, which comprises the following steps of: aiming at a mining mine, providing a mode based on a radar and a camera, and determining the upward movement and downward movement amount of a scraper conveyor on the working face in a measurement mode of propelling degrees of a machine head and a machine tail at the end of the scraper conveyor; and updating the planned cutting curve of the coal mining machine in the process stage, determining the position of a reverse point, re-integrating to obtain a planned curve, and gradually finishing the correction of upward sliding and downward sliding of the scraper conveyor on the working surface. The limit reverse point of the coal mining machine on the scraper conveyor can be adjusted in real time, and the phenomenon that normal mining of a working face is hindered by remaining coal pillars is avoided. Compared with the conventional technical measure of'upward moving and downward sliding 'of regulating and controlling the scraper conveyor, the regulating and controlling device has the advantage of fine regulation, avoids repeated regulation and control caused by errors, simplifies tedious procedures of regulation and control, and reduces labor intensity of manpower.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mining, and particularly relates to a method for controlling the upward and downward movement of scraper conveyors in fully mechanized mining faces. Background Technique

[0002] Scraper conveyors are the most forward electromechanical equipment in coal mine fully mechanized working faces, responsible for transporting coal out of the working face and providing an operating track for shearers. Affected by factors such as the geological conditions of the working face and the mining technology, whether it is inclined coal seams, gently inclined coal seams, or even nearly horizontal coal seams, there are varying degrees of upward and downward movement problems of scraper conveyors. If timely correction is not carried out, it will lead to the instability of the three-machine matching structure, increase the production stoppage accident rate of fully mechanized mining faces, and further cause the deviation of hydraulic supports, and even weaken the roof support effect, affecting the safe and efficient mining of the working face.

[0003] In response to the upward and downward movement problems of scraper conveyors, industry practitioners have conducted a large amount of theoretical and practical research. The common solution is to adjust the mining reverse points at both ends of the working face by manual observation and experience. Each cut is adjusted to correct the "upward and downward movement" of the scraper conveyor. This adjustment method has large errors and low accuracy. Using empirical judgment and manual adjustment is not conducive to the implementation of unmanned operation in coal mines. Summary of the Invention

[0004] The purpose of the invention is to provide a method for controlling the upward and downward movement of scraper conveyors in fully mechanized mining faces, and solve the problems of large errors and low accuracy in the manual adjustment during the correction of the upward and downward movement of scraper conveyors in existing working faces.

[0005] The technical solution adopted by the invention is a method for controlling the upward and downward movement of scraper conveyors in fully mechanized mining faces. For the mining mine, a radar + camera-based mode is proposed to determine the measurement method of the advancement of the head and tail of the scraper conveyor working face to verify the upward and downward movement amount of the scraper on the working face; update the planned cutting curve of the shearer process stage, determine the position of the reverse point and then re-integrate to obtain the planned curve. During the process of automatically following the machine, in the way of compensating cut by cut and finding values cut by cut, gradually complete the correction of the upward and downward movement of the scraper conveyor on the working face; the specific operation steps are as follows:

[0006] S1: Taking the central lines of the two roadways as the reference, install ranging devices at the head and tail of the scraper conveyor respectively, and collect the distances from the head and tail of the scraper conveyor to the central lines of the two roadways after multiple coal cuttings;

[0007] S2: Determine the degree of upward and downward movement of the scraper conveyor. When the upward and downward movement amount is large, perform additional cut correction to adjust the scraper conveyor to the normal position; when the upward and downward movement amount is small, execute step S3;

[0008] S3: After the shearer cuts coal multiple times, obtain the offset based on the distances from the head and tail of the scraper conveyor to the physical reference objects in the two roadways, and obtain the offset coefficient according to the change trend of the offset to determine the type of upward or downward movement of the scraper conveyor;

[0009] S4: Input the offset coefficient of the head or tail into the mining control system to correct the head and tail of the scraper conveyor;

[0010] S5: Adjust the position of the reverse point in the shearer process stage according to the position of the shearer at the head or tail of the scraper conveyor;

[0011] S6: Update the planned cutting curve of the shearer according to the input offsets of the head and tail and the offset coefficient;

[0012] S7: Use the updated planned curve to carry out planned cutting and coal mining by the shearer, readjust the number of correction times, offset, and number of offsets, and generate a new planned curve.

[0013] The features of the present invention also lie in that

[0014] After the shearer cuts coal multiple times in S1, measure the distances from the head and tail of the scraper conveyor to the physical reference objects on the center lines of the two roadways, and take the distances from the head and tail to the physical reference objects in the roadway after 4 to 8 times of coal cutting by the shearer for data statistics.

[0015] S2 is specifically as follows:

[0016] a. When the distances from the head and tail of the scraper conveyor measured by the distance measuring devices installed at the head and tail, 0.8m ≤ x < 1.4m, it is determined that the upward or downward movement amount of the scraper conveyor is small;

[0017] b. When the distances from the head and tail of the scraper conveyor measured by the distance measuring device, x < 0.8m, it is judged that the upward or downward movement amount of the scraper conveyor is large.

[0018] S3 is specifically as follows:

[0019] After the shearer cuts coal multiple times, the distance from the head of the scraper conveyor to the physical reference objects in the two roadways is y i , and the distance from the tail of the machine to the physical reference objects in the two roadways is z i , where i represents the measurement times and takes an integer; substitute y i , z i into the offset compensation algorithm, and determine the type of upward or downward movement of the scraper conveyor according to the offset. If the difference at the head is getting larger and larger, it is determined that the head is moving upward; on the contrary, if the difference at the tail is getting larger and larger, it is determined that the tail is moving downward;

[0020] Among them: The offset is the distance y from the head to the physical reference object in the roadway measured in the second measurement of the input offset 2Subtract the distance y measured for the first time from the shearer head to the roadway solid reference object 1 , that is, y 2 -y 1 =a, y 3 -y 2 =b, and so on: When the offsets a, b... show an increasingly increasing trend compared with each other, it is determined that the shearer head is moving upward;

[0021] Input the distance z measured for the second time from the shearer tail to the roadway solid reference object 2 Subtract the distance z measured for the first time from the shearer tail to the roadway solid reference object 1 , that is, z 2 -z 1 =a1, z 3 -z 2 =b1,..., when the offsets a1, b1... show a gradually increasing trend compared with each other, it is determined that the shearer tail is sliding downward;

[0022] a. If it is determined that the shearer has its head moving upward, calculate the average offset P of the head and the average value of the offset coefficient W divided by 1.4 based on the distance from the shearer head to the roadway center line measured by the head distance measuring device;

[0023] b. If it is determined that the shearer has its tail sliding downward, calculate the average offset P of the head and the offset coefficient W 1 and the average value of the offset coefficient W 1 divided by 1.4 and then divided by 1.4.

[0024] S6 is as follows:

[0025] Update the planned cutting curve of the shearer according to the input offsets and offset coefficients of the head and tail. Based on the original planned cutting curve, update the curve. Cut the curve into two parts with the center of the original planned cutting curve as the boundary:

[0026] a. Input the head offset P and the offset coefficient W to update the planned curve on the side close to the head. Translate the planned curve on the side close to the head as a whole according to the offset. For the planned curve close to the center, add or delete points according to the curve points before translation;

[0027] b. Input the tail offset P 1 and the offset coefficient W 1 to update the planned curve on the side close to the tail. Translate the planned curve on the side close to the tail as a whole according to the offset. For the planned curve close to the center, add or delete points according to the curve points before translation;

[0028] Integrate the two updated planning curves together to form a complete updated planning curve.

[0029] S7 is as follows:

[0030] Use the updated planning curve for the planned cutting coal mining of the shearer. Use the updated planning curve 3 - 5 times for the planned cutting coal mining of the shearer. Compare the measured amount of upward and downward displacement with the amount of upward and downward displacement before correction, and readjust the number of correction times, offset amount, and offset times to generate a new planning curve.

[0031] The ranging device in S1 is a radar combined with a camera.

[0032] For an intelligent mining mine, the regulation method for the problem of real - time and dynamic adjustment of the upward and downward displacement of the scraper conveyor proposed by the present invention proposes a mode based on radar + camera, and a measurement method for determining the advancement of the head and tail of the working face end to verify the measurement of the upward and downward displacement of the working face scraper; and then plan the process conversion point of the shearer and the support pushing process according to the coal mining process and the mechanical structure of the equipment. During the process of autonomous following the shearer, gradually complete the correction of the upward and downward displacement of the working face scraper conveyor in the way of compensating each cut and finding the value for each cut.

[0033] The beneficial effects of the present invention are:

[0034] Taking the regulation of the "upward and downward displacement" phenomenon of the scraper conveyor from the hardware equipment as the comparison object, and summarizing the deficiencies and disadvantages in directly regulating the "upward and downward displacement" phenomenon of the scraper conveyor from the hardware equipment level, the present invention has the following advantages:

[0035] 1. Propose a mode based on radar + camera, and a measurement method for determining the advancement of the head and tail of the working face end to verify the measurement of the upward and downward displacement of the working face scraper,

[0036] 2. Can adjust the extreme reverse point of the shearer on the scraper conveyor in real time, avoiding the remaining coal pillars from hindering the normal mining of the working face.

[0037] 3. According to the measurement of the "upward and downward displacement" amount of the working face scraper conveyor, plan the process conversion point of the shearer and the support pushing process according to the coal mining process and the mechanical structure of the equipment. During the process of autonomous following the shearer, gradually complete the correction of the upward and downward displacement of the working face scraper conveyor in the way of compensating each cut and finding the value for each cut.

[0038] 4. Compared with the conventional technical measures for regulating the "upward and downward displacement" of the scraper conveyor, it has the advantage of fine - tuning, avoiding multiple regulations caused by errors, simplifying the cumbersome procedures of regulation, and reducing the labor intensity of manpower. Description of the Drawings

[0039] Figure 1 This is the technical roadmap for controlling the upward and downward movement of the scraper conveyor in the fully mechanized mining face of the present invention. Specific Embodiments

[0040] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] Embodiment 1

[0042] For the method of controlling the upward and downward movement of the scraper conveyor in the fully mechanized mining face of the present invention, a radar + camera-based mode is proposed for the mining mine, and a measurement method for determining the advancement of the head and tail of the working face of the scraper conveyor is used to verify the upward and downward displacement of the scraper on the working face; furthermore, the planned cutting curve of the shearer process stage is updated, and after determining the reverse point position, the planned curve is re-integrated. During the process of autonomous following the shearer, in the way of compensating and finding values for each cut, the correction of the upward and downward movement of the scraper conveyor on the working face is gradually completed.

[0043] Embodiment 2

[0044] The method of controlling the upward and downward movement of the scraper conveyor in the fully mechanized mining face of the present invention, as Figure 1 shown, the specific operation steps are as follows:

[0045] S1: Taking the center lines of the two roadways as the reference, distance measuring devices are installed at the head and tail of the scraper conveyor respectively, and the distances from the head and tail of the scraper conveyor to the center lines of the two roadways are collected after multiple coal cuttings; the distance measuring device is radar + camera;

[0046] S2: Determine the degree of upward and downward movement of the scraper conveyor. When the upward and downward displacement is large, perform additional cut correction to adjust the scraper conveyor to the normal position; when the upward and downward displacement is small, execute step S3;

[0047] S3: After the shearer cuts coal multiple times, obtain the offset according to the distances from the head and tail of the scraper conveyor to the physical reference objects in the two roadways, and obtain the offset coefficient according to the change trend of the offset to judge the type of upward and downward movement of the scraper conveyor;

[0048] S4: Input the offset coefficient of the head or tail into the mining control system to correct the head and tail of the scraper conveyor;

[0049] S5: Adjust the reverse point position of the shearer process stage according to the position of the shearer at the head or tail of the scraper conveyor;

[0050] S6: Update the planned cutting curve of the shearer according to the input offsets of the head and tail and the offset coefficient;

[0051] S7: Use the updated planned curve to conduct planned cutting of coal by the shearer, and readjust the correction times, offset, and offset times to generate a new planned curve.

[0052] Example 3

[0053] Based on Example 2,

[0054] After the shearer cuts coal multiple times in S1, measure the distances from the head and tail of the scraper conveyor to the physical reference objects on the center lines of the two roadways, and take the distances from the head and tail to the physical reference objects in the roadway after 4 to 8 times of the shearer cutting coal for data statistics.

[0055] S2 is specifically as follows:

[0056] a. When the distances from the head and tail of the scraper conveyor measured by the distance measuring devices installed at the head and tail of the scraper conveyor satisfy 0.8m ≤ x < 1.4m from the physical reference objects on the two roadways, it is determined that the upward and downward displacement of the scraper conveyor is small;

[0057] b. When the distances from the head and tail of the scraper conveyor measured by the distance measuring devices to the physical reference objects on the two roadways are x < 0.8m, it is judged that the upward and downward displacement of the scraper conveyor is large.

[0058] Example 4

[0059] Based on Example 3, S3 is specifically as follows:

[0060] After the shearer cuts coal multiple times, the distance from the head of the scraper conveyor to the physical reference objects on the two roadways is y i , and the distance from the tail of the machine to the physical reference objects on the two roadways is z i , where i represents the measurement times and takes an integer; substitute y i、 z i into the offset compensation algorithm, and judge the upward and downward displacement type of the scraper conveyor according to the offset. If the difference at the head is getting larger and larger, it is determined that the head is moving upward; on the contrary, if the difference at the tail is getting larger and larger, it is determined that the tail is moving downward;

[0061] Among them: the offset is the distance y from the head to the physical reference object in the roadway measured in the second measurement of the input 2 minus the distance y from the head to the physical reference object in the roadway measured in the first measurement 1 , that is, y 2 - y 1 = a, y 3 - y 2 = b,... and so on: when the offsets a, b... show an increasing trend compared with each other, it is determined that the head of the scraper conveyor is moving upward;

[0062] the distance z from the tail to the physical reference object in the roadway measured in the second measurement of the input 2 minus the distance z from the tail to the physical reference object in the roadway measured in the first measurement 1 , that is, z 2 - z 1 = a1, z 3 - z2 = b1. When the offsets a1, b1... show a gradually increasing trend when compared, it is determined that the tail of the scraper conveyor slides down.

[0063] a. If it is determined that the head of the scraper conveyor creeps upward, based on the distance from the head to the center line of the roadway measured by the head distance measuring device, calculate the average offset P of the head, and divide the average value of the offset coefficient W by 1.4.

[0064] b. If it is determined that the tail of the scraper conveyor slides down, based on the distance from the tail to the center line of the roadway measured by the tail distance measuring device, calculate the average offset P of the head 1 and the offset coefficient W 1 average value divided by 1.4, average value divided by 1.4.

[0065] S6 is specifically as follows:

[0066] Update the planned cutting curve of the shearer according to the input offsets and offset coefficients of the head and tail. Based on the original planned cutting curve, update the curve. Cut the curve into two parts with the center of the original planned cutting curve as the boundary:

[0067] a. Input the head offset P and the offset coefficient W to update the planned curve on the side close to the head. Translate the planned curve on the side close to the head as a whole according to the offset. For the planned curve close to the center, add or delete according to the curve points before translation.

[0068] b. Input the tail offset P 1 and the offset coefficient W 1 to update the planned curve on the side close to the tail. Translate the planned curve on the side close to the tail as a whole according to the offset. For the planned curve close to the center, add or delete according to the curve points before translation.

[0069] Integrate the two updated planned curves together to form a complete updated planned curve.

[0070] S7 is specifically as follows:

[0071] Use the updated planned curve for the shearer to plan and cut coal. Use the updated planned curve 3 - 5 times for the shearer to plan and cut coal. Compare the measured creep and slide amount with the creep and slide amount before correction, and readjust the correction times, offset, and offset times to generate a new planned curve.

[0072] Example 5

[0073] S1: Set physical reference objects based on the center lines of the two roadways. Install distance measuring devices at the head and tail of the scraper conveyor respectively. After the shearer cuts coal multiple times, measure the distances from the head and tail of the scraper conveyor to the physical reference objects on the center lines of the two roadways, and take the distances from the head and tail to the reference objects on the center line of the roadway after 6 times of coal cutting by the shearer for data statistics.

[0074] S2: Determine the degree of upward or downward movement of the scraper conveyor. When the amount of upward or downward movement is large, perform additional cutting to correct and adjust the scraper conveyor to the normal position; when the amount of upward or downward movement is small, execute step S3:

[0075] a. When the distances from the head and tail of the scraper conveyor measured by the distance measuring devices installed at the head and tail of the scraper conveyor to the reference objects on the center lines of the two roadways satisfy 0.8m ≤ x < 1.4m (empirical values from multiple project tests), it is determined that the "upward or downward movement" amount of the scraper conveyor is small.

[0076] b. When the distances from the head and tail of the scraper conveyor measured by the distance measuring device to the reference objects on the center lines of the two roadways are x < 0.8m (empirical values from multiple project tests), it is judged that the "upward or downward movement" amount of the scraper conveyor is large.

[0077] When it is determined in S2 that the "upward or downward movement" amount of the scraper conveyor is small, perform the following steps:

[0078] S3: After the shearer cuts coal multiple times, substitute the distances from the head and tail of the scraper conveyor to the reference objects on the center lines of the two roadways (head: y 1 、y 2 、y 3 、y 4 、y 5 、y 6 ); tail: z 1 、z 2 、z 3 、z 4 、z 5 、z 6 ) into the offset compensation algorithm, and judge the type of "upward or downward movement" of the scraper conveyor (head "upward movement", tail "downward movement") according to the change trend of the difference value. If the difference value of the head is getting larger and larger, it is determined that the head is moving upward; on the contrary, if the difference value of the tail is getting larger and larger, it is determined that the tail is moving downward.

[0079] Among them: The offset compensation algorithm is a mathematical formula. Subtract the distance y 2 from the head to the reference object on the center line of the roadway measured for the first time from the distance y 1 from the head to the reference object on the center line of the roadway measured for the second time, that is, y 2 -y 1 = a, (and so on: y 3 -y 2 = b, y 4 -y3 = c……), if the differences a, b, c, d, e show an increasingly increasing trend, it is determined that the head of the scraper conveyor "runs upward";

[0080] The distance z from the tail of the machine to the reference object on the roadway center line measured for the second time and input 2 Subtract the distance z from the tail of the machine to the reference object on the roadway center line measured for the first time 1 , that is, z 2 - z 1 = a 1 , (and so on for z 3 - z 2 = b 1 , z 4 - z 3 = c 1 ……), if the differences a 1 , b 1 , c 1 , d 1 , e 1 show a gradually increasing trend when compared, it is determined that the tail of the scraper conveyor slides down;

[0081] a. If it is determined that the head of the scraper conveyor "runs upward", then based on the distance from the head of the machine measured by the head distance measuring device to the roadway center line, analyze the offset amount P of the head (the average value of a, b, c, d, e, that is and the offset coefficient

[0082] b. If it is determined that the tail of the scraper conveyor "slides down", then based on the distance from the tail of the machine measured by the tail distance measuring device to the roadway center line, analyze the offset amount P of the head 1 (a 1 , b 1 , c 1 , d 1 , e 1 average value, that is and the offset coefficient

[0083] S4: Manually fill in the offset coefficient of the head (if it is determined that the head runs upward in S3) or the tail (if it is determined that the tail slides down in S3) on the head and tail correction amount setting page to correct the head and tail of the scraper conveyor.

[0084] S5: Adjust the reverse point position of the shearer process stage according to the position of the shearer at the head or tail of the scraper conveyor in the intelligent mining system;

[0085] S6: Update the planned cutting curve of the shearer according to the input offset amount and offset coefficient of the head and tail; specifically as follows:

[0086] a. Input the head offset P and the offset coefficient W to update the planning curve on the side close to the head. According to the offset data iteration algorithm, translate the entire planning curve on the side close to the head. For the planning curve close to the center, add or delete points according to the curve points before translation.

[0087] b. Input the tail offset P 1 and the offset coefficient W 1 to update the planning curve on the side close to the tail. According to the offset data iteration algorithm, translate the entire planning curve on the side close to the tail. For the planning curve close to the center, add or delete points according to the curve points before translation. Integrate the two updated planning curves together to form the updated complete planning curve, as Figure 1 shown.

[0088] S7: Use the updated planning curve for the planned cutting of the shearer. Use the updated planning curve 3 - 5 times (data obtained through multiple on-site actual demonstrations, 3 - 5 times) for the planned cutting of the shearer. Compare the measured upward / downward displacement with the upward / downward displacement before correction, readjust the correction times, offset, and offset times, generate a new planning curve, and then perform the planned cutting of the shearer for correction.

[0089] Embodiment 6

[0090] The method for regulating the upward / downward movement of the scraper conveyor in the fully mechanized coal mining face of the present invention has the following specific operation steps:

[0091] S1: Set physical reference objects based on the center lines of the two roadways. Install distance measuring devices at the head and tail of the scraper conveyor respectively, measure the distances from the head and tail of the scraper conveyor to the physical reference objects on the center lines of the two roadways, and take the distances from the head and tail to the roadway center line reference objects after 6 times of shearer coal cutting for data statistics.

[0092] S2: Determine the degree of upward / downward movement of the scraper conveyor. Through the distance measuring devices installed at the head and tail of the scraper conveyor, take the distances from the head and tail to the roadway physical reference objects after 6 times of shearer coal cutting for data statistics. The distances from the head and tail of the scraper conveyor to the physical reference objects on the two roadways are respectively (1.22, 1.22, 1.22, 1.23, 1.22, 1.23) and (1.24, 1.25, 1.26, 1.28, 1.31, 1.36), unit: m. At this time, it is judged that the upward / downward displacement of the scraper conveyor is small.

[0093] S3: Determine the type of upward or downward movement of the scraper conveyor based on the offset. The offset is the distance from the head or tail of the conveyor to the roadway solid reference measured in the second measurement minus the distance measured in the first measurement. Substituting the distances measured in S2, the offsets of the head and tail are (0, 0, 0.01, -0.01, 0.01) and (0.01, 0.01, 0.02, 0.03, 0.05) respectively, with the unit of m. Since the offset of the tail is continuously increasing, it is determined that the tail of the scraper conveyor is moving downward.

[0094] S4: From the judgment in S3 that the scraper conveyor has a downward movement at the tail, calculate the average value of the tail offset. Offset coefficient Manually fill in and enter on the tail correction amount setting page to correct the tail of the scraper conveyor.

[0095] S5: Adjust the position of the reverse point in the shearer process stage according to the position of the shearer at the tail of the scraper conveyor in the intelligent mining system.

[0096] S6: Update the planned cutting curve of the shearer according to the input tail offset and offset coefficient: Input the tail offset P and offset coefficient W, update the planned curve on the side close to the tail, translate the entire planned curve on the side close to the tail, and modify the planned curve close to the center according to the curve points before translation to form a complete updated planned curve.

[0097] S7: Use the updated planned curve for the shearer to plan and cut coal. Use the updated planned curve 3 times for the shearer to plan and cut coal. Compare the measured upward and downward movement amount with that before correction. The upward and downward movement amount after correction is less than that before correction. Readjust the correction times, offset amount, and offset times to generate a new planned curve, and then perform planning and cutting for the shearer to make corrections. Finally, the distances from the head and tail of the scraper conveyor to the solid references in the two roadways reach 1.4 m, and the correction is completed.

[0098] Based on the discrimination result of the upward and downward movement degree of the scraper conveyor, the present invention adopts different correction methods for flexible adjustment, gradually eliminates the "upward and downward movement" phenomenon of the scraper conveyor, and ensures the safe and efficient mining of the fully mechanized coal mining face.

Claims

1. A method for controlling the upward and downward movement of a scraper conveyor on a fully mechanized mining face, characterized in that: A radar + camera-based model is proposed for mining mines. The advancement of the head and tail of the scraper conveyor at the working face end is determined by measuring the measurement method to verify the ups and downslide of the scraper on the working face. The planned cutting curve of the coal mining machine process stage is updated, and the planning curve is reintegrated after the reverse point position is determined. In the process of autonomous following the machine, the correction of the ups and downslide of the scraper conveyor on the working face is gradually completed by means of cutter-by-cut compensation and cutter-by-cut value finding.

2. The method for controlling the upward and downward movement of a fully mechanized mining face scraper conveyor according to claim 1, characterized in that: The specific steps are as follows: S1: Taking the center line of the two lanes as the reference, distance measuring devices are installed at the head and tail of the scraper conveyor to collect the distance from the head and tail of the scraper conveyor to the center line of the two lanes after multiple coal cutting; S2: Determine the degree of upward and downward movement of the scraper conveyor. If the upward and downward movement is large, add a knife to correct it and adjust the scraper conveyor to a normal position. If the upward and downward movement is small, execute step S3. S3: After the coal mining machine has cut coal multiple times, the offset is calculated based on the distance from the head and tail of the scraper conveyor to the physical reference objects in the two lanes. The offset coefficient is obtained based on the trend of the offset change to determine the type of upward and downward movement of the scraper conveyor. S4: Input the offset coefficient of the head or tail into the mining control system to correct the head and tail of the scraper conveyor; S5: adjusting the reversal point position of the process stage of the coal mining machine according to the position of the coal mining machine at the head or tail of the scraper conveyor; S6: updating the planned cutting curve of the coal mining machine according to the input offsets of the machine head and the machine tail and the offset coefficient; S7: Use the updated planning curve to plan the coal cutting by the coal mining machine, readjust the correction times, offset amount and offset times, and generate a new planning curve.

3. The method for controlling the upward and downward movement of a fully mechanized mining face scraper conveyor according to claim 2, characterized in that: After the shearer in S1 cuts coal several times, the distances from the head and tail of the scraper conveyor to the physical reference objects in the center lines of the two tunnels are measured. The distances from the head and tail of the scraper conveyor to the physical reference objects in the tunnel after the shearer cuts coal 4 to 8 times are taken for data statistics.

4. The method for controlling the upward and downward movement of a fully mechanized mining face scraper conveyor according to claim 2, characterized in that: S2 is as follows: a. When the distance between the head and tail of the scraper conveyor and the physical reference objects in the two lanes measured by the distance measuring devices installed at the head and tail of the scraper conveyor is 0.8m≤x<1.4m, it is determined that the upward and downward sliding amount of the scraper conveyor is small; b. When the distance x measured by the distance measuring device from the head and tail of the scraper conveyor to the physical reference objects in the two lanes is less than 0.8m, it is judged that the scraper conveyor is sliding up and down a large amount.

5. The method for controlling the upward and downward movement of a fully mechanized mining face scraper conveyor according to claim 2, characterized in that: S3 is as follows: After the coal mining machine has cut coal several times, the distance from the head of the scraper conveyor to the physical reference objects in the two lanes is y i , the distance from the tail of the machine to the physical reference objects in the two lanes is z i , where i represents the number of measurements, which is an integer; y i、 z i The offset compensation algorithm is introduced to determine the type of upward or downward movement of the scraper conveyor according to the offset. If the difference of the nose is getting bigger and bigger, it is determined that the nose is upward movement; on the contrary, if the difference of the tail is getting bigger and bigger, it is determined that the tail is downward movement. Among them: the distance y2 from the machine head to the physical reference object in the lane measured for the second time is subtracted from the distance y1 from the machine head to the physical reference object in the lane measured for the first time, that is, y2-y1=a, y3-y2=b, ... and so on: when the offsets a, b... show an increasing trend compared to each other, it is determined that the scraper conveyor machine head is moving up; The distance z2 from the tail of the machine to the physical reference object of the lane measured for the second time is subtracted from the distance z1 from the tail of the machine to the physical reference object of the lane measured for the first time, that is, z2-z1=a1, z3-z2=b1, ..., when the offsets a1, b1... show a gradually increasing trend compared with each other, it is determined that the tail of the scraper conveyor has slipped; a. If it is determined that the scraper conveyor has head slippage, the distance between the head and the center line of the roadway measured by the head distance measuring device is used to calculate the mean value of the head offset P and the mean value of the offset coefficient W divided by 1.4; b. If it is determined that the scraper conveyor has tail slippage, the mean value of the computer head offset P1 and the offset coefficient W1 are divided by 1.4 based on the distance between the tail and the center line of the lane measured by the tail distance measuring device.

6. The method for controlling the upward and downward movement of a fully mechanized mining face scraper conveyor according to claim 5, characterized in that: S6 is as follows: Update the planned cutting curve of the coal mining machine according to the input offset of the machine head and tail and the offset coefficient. Update the curve based on the original planned cutting curve and cut the curve into two parts with the center of the original planned cutting curve as the boundary: a. Input the nose offset P and offset coefficient W to update the planning curve close to the nose. According to the offset, the planning curve close to the nose is translated as a whole. The planning curve close to the center is added or deleted according to the curve points before translation. b. Input the tail offset P1 and offset coefficient W1 to update the planning curve near the tail side. According to the offset, the planning curve near the tail side is translated as a whole. The planning curve near the center is added or deleted according to the curve points before translation. The two updated planning curves are integrated together to form an updated complete planning curve.

7. The method for controlling the upward and downward movement of a fully mechanized mining face scraper conveyor according to claim 6, characterized in that: S7 is as follows: Use the updated planning curve to plan the coal cutting and mining by the coal mining machine. Use the planning curve updated 3 to 5 times to plan the coal cutting and mining by the coal mining machine. Compare the measured ups and downslide amount with the ups and downslide amount before correction, readjust the correction times, offset amount and offset times to generate a new planning curve.

8. The method for controlling the upward and downward movement of a fully mechanized mining face scraper conveyor according to claim 2, characterized in that: The distance measuring device in S1 is a radar superimposed camera.

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